Glider dive log

DavisStrait Oct11 * SG143 * Dive index * Mission links * Dive 119 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 13 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

DIVE 119 HEADING -1 ROLL_MIN 290 ALTIM_TOP_TURN_MARGIN 5

N_DIVES 0 ESCAPE_HEADING 100 ROLL_MAX 3915 ALTIM_TOP_MIN_OBSTACLE 1.8

D_SURF 2 ESCAPE_HEADING_DELTA 5 ROLL_DEG 20 ALTIM_PING_DEPTH 300

D_FLARE 3 FIX_MISSING_TIMEOUT 2 C_ROLL_DIVE 2510 ALTIM_PING_DELTA 50

D_TGT 990 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2200 ALTIM_FREQUENCY 13

D_ABORT 1030 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_PULSE 4

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_BOOST 20 SM_CC 350 ROLL_TIMEOUT 15 XPDR_VALID 0

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 34 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 240 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 10 N_NOCOMM 2 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 161 VBD_MIN 442 DEVICE1 2

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_MAX 3793 DEVICE2 20

T_DIVE 330 UPLOAD_DIVES_MAX 5 C_VBD 2485 DEVICE3 -1

T_MISSION 400 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 6 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -3 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -80665.289 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 T_RSLEEP 3 CF8_MAXERRORS 0 COMPASS2_DEVICE -1

D_OFFGRID 200 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2400 PHONE_SUPPLY -1 SEABIRD_T_G 0.0043394179

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -22.40402 SEABIRD_T_H 0.00062698836

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_I 2.474318e-05

MASS 51400 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.7476094e-06

NAV_MODE 2 PITCH_GAIN 31 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.9261332

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1046007

KALMAN_USE 2 PITCH_AD_RATE 150 COMPASS_USE 0 SEABIRD_C_I -0.00064730336

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014311814

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 100 D_OFFGRID 200 PHONE_DEVICE 49 SIM_W 0

AH0_24V 150 D_PITCH 0 PHONE_SUPPLY -1 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 2 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 150 SURFACE_URGENCY 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 100 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 5 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_GAIN 31 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163694 T_BOOST 0

CALL_TRIES 5 HD_A 0.0038360001 PRESSURE_YINT -22.40402 T_DIVE 330

CALL_WAIT 60 HD_B 0.010078 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_DEVICE 16 T_GPS_CHARGE -80665.289

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1.5 T_MISSION 400

COMPASS_DEVICE 97 ID 143 RELAUNCH 1 T_NO_W 120

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.0275 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_DBAND 0 T_TURN 225

C_PITCH 2400 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 6

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 ROLL_AD_RATE 240 T_WATCHDOG 10

C_ROLL_DIVE 2510 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2485 LOGGERDEVICE3 -1 ROLL_DEG 20 UPLOAD_DIVES_MAX 5

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3915 USE_BATHY -3

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 0 USE_ICE 0

DEVICE1 2 MASS 51400 ROLL_MIN 290 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 34 VBD_DBAND 2

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 22 VBD_MAX 3793

DEVICE5 -1 MISSION 13 SEABIRD_C_G -9.9261332 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1046007 VBD_MIN 442

DIVE 119 NAV_MODE 2 SEABIRD_C_I -0.00064730336 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1030 NOCOMM_ACTION 161 SEABIRD_C_J 0.00014311814 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 20 N_DIVES 0 SEABIRD_T_G 0.0043394179 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00062698836 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.474318e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 2 SEABIRD_T_J 2.7476094e-06 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 231011,102052,6653.227,-5817.888,46,2.9,66,-33.6 TGT_NAME TARGET_W

_CALLS 2 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231011,102825,6653.299,-5818.022,16,1.6,16,-33.6 MHEAD_RNG_PITCHd_Wd 264.9,95194,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 902

Post-dive calculations and measurements:

FINISH 1.7,1.014571 _24V_AH 22.6,15.068

SM_CCo 15414,56.65,0.084,0,0,1057,350.04 _10V_AH 10.2,12.297

SM_GC 2.47,6.93,0.52,56.65,0.048,0.054,0.084,115,2516,1057,-7.08,-0.82,350.04,0,0,0,0,0,0 FG_AHR_24Vo 0.000

RAFOS_CLK 1015 FG_AHR_10Vo 0.000

RAFOS 0,1319371267,12.033333,12.018611,59,56,56,0,0,0,907,176,167,0,0,0 MEM 150308

RAFOS_FIX 6654.869629,-5817.837402,231011,080840,3,98,0.80 DATA_FILE_SIZE 46620,1199

IRIDIUM_FIX 6625.71,-5817.09,231011,101037 CAP_FILE_SIZE 125419,0

TT8_MAMPS 0.026964,0.026964 CFSIZE 260165632,239812608

HUMID 57.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

INTERNAL_PRESSURE 9.8246 SOUNDSPEED 1457.2

TCM_TEMP 16.40 CURRENT 0.098, 49.3,1

XPDR_PINGS 23 GPS 231011,144805,6652.104,-5821.660,26,0.8,27,-33.6

ALTIM_BOTTOM_PING 903.2,45.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 257 99.19 SBE_CT 861 23 452.09

Roll_motor 29 71 47.11 SBE_O2 655 5 77.67

VBD_pump_during_apogee 328 1454 10789.21 nil 0 0 0.00

VBD_pump_during_surface 56 84 107.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 284 261 1679.64 nil 0 0 0.00

Transponder_ping 9 420 87.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.06

TT8 3273 18 624.79

LPSleep 9732 2 229.32

TT8_Active 525 18 100.21

TT8_Sampling 2199 41 940.53

TT8_CF8 203 47 99.27

TT8_Kalman 0 0 0.00

Analog_circuits 1804 12 220.89

GPS_charging 0 0 0.00

Compass 1892 6 130.13

RAFOS 2520 1 38.56

Transponder 26 30 8.18

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.77 -146.0 0.0 0.0 0 63 0.00 0.00 -46.10 0.000 2 0.000 0.000 119 2520 1691 0 0 0 0 0 0

67 -0.77 -146.0 3.0 -1.7 7 186 8.48 1.17 -101.78 0.000 4 0.258 0.070 2145 1803 3081 0 0 0 0 0 0

439 -0.77 -146.0 51.3 -16.2 63 446 0.00 1.23 0.00 0.000 6 0.000 0.060 2142 2508 3083 0 0 0 0 0 0

778 -0.77 -146.0 106.2 -15.0 114 784 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2508 3084 0 0 0 0 0 0

1114 -0.77 -146.0 156.0 -15.0 165 1123 0.00 1.15 0.00 0.000 4 0.000 0.071 2136 3223 3084 0 0 0 0 0 0

1155 -0.77 -146.0 162.2 -14.7 171 1162 0.00 1.12 0.00 0.000 6 0.000 0.038 2136 2510 3084 0 0 0 0 0 0

1494 -0.77 -146.0 212.3 -13.5 222 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3084 0 0 0 0 0 0

1828 -0.77 -146.0 257.6 -13.6 269 1829 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2509 3083 0 0 0 0 0 0

2145 -0.77 -146.0 298.9 -12.9 294 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3082 0 0 0 0 0 0

2459 -0.77 -146.0 338.6 -12.6 319 2460 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3083 0 0 0 0 0 0

2774 -0.77 -146.0 378.3 -12.6 344 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3082 0 0 0 0 0 0

3090 -0.77 -146.0 417.0 -12.4 369 3091 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

3407 -0.77 -146.0 455.5 -12.1 394 3408 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

3721 -0.77 -146.0 493.3 -11.7 419 3722 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

4029 -0.77 -146.0 529.0 -11.4 432 4030 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

4337 -0.77 -146.0 563.7 -11.4 442 4338 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

4641 -0.77 -146.0 598.4 -11.3 452 4643 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

4949 -0.77 -146.0 632.6 -11.1 462 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 2137 2510 3083 0 0 0 0 0 0

5255 -0.77 -146.0 666.4 -11.1 472 5256 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

5562 -0.77 -146.0 699.5 -10.9 482 5563 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3083 0 0 0 0 0 0

5866 -0.77 -146.0 731.3 -10.3 492 5867 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2510 3084 0 0 0 0 0 0

6174 -0.77 -146.0 763.8 -10.7 502 6178 0.00 1.17 0.00 0.000 4 0.000 0.068 2132 3217 3084 0 0 0 0 0 0

6225 -0.77 -146.0 767.6 -10.8 503 6230 0.00 1.12 0.00 0.000 6 0.000 0.034 2132 2498 3084 0 0 0 0 0 0

6547 -0.77 -146.0 805.2 -11.0 514 6548 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2498 3084 0 0 0 0 0 0

6853 -0.77 -146.0 839.0 -11.1 524 6854 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2498 3084 0 0 0 0 0 0

7160 -0.77 -146.0 872.7 -10.8 534 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2498 3084 0 0 0 0 0 0

7436 end dive: TARGET_DEPTH_EXCEEDED

state 7436 begin apogee

7442 -0.16 0.0 903.2 -11.0 543 7571 0.65 0.00 123.30 1.454 6 0.144 0.000 2339 2184 2485 0 0 0 0 0 0

7572 end apogee: CONTROL_FINISHED_OK

state 7572 begin climb

7574 0.77 146.0 908.4 0.0 547 7718 0.90 1.23 131.77 1.386 4 0.073 0.053 2649 1500 1888 0 0 0 0 0 0

7919 0.77 146.0 876.1 13.1 558 7924 0.00 1.23 0.00 0.000 6 0.000 0.047 2649 2205 1881 0 0 0 0 0 0

8258 0.77 146.0 831.4 13.1 569 8261 0.00 1.17 0.00 0.000 4 0.000 0.057 2649 2905 1878 0 0 0 0 0 0

8309 0.77 146.0 827.0 13.2 570 8314 0.00 1.17 0.00 0.000 6 0.000 0.041 2654 2211 1878 0 0 0 0 0 0

8629 0.77 146.0 782.6 13.2 581 8631 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2211 1877 0 0 0 0 0 0

8936 0.77 146.0 742.4 13.1 591 8937 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2211 1876 0 0 0 0 0 0

9242 0.77 146.0 703.0 12.9 601 9246 0.00 1.20 0.00 0.000 4 0.000 0.057 2654 2909 1876 0 0 0 0 0 0

9366 0.77 146.0 690.1 12.8 604 9374 0.00 1.20 0.00 0.000 6 0.000 0.041 2658 2191 1875 0 0 0 0 0 0

9680 0.77 146.0 646.6 12.6 615 9681 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2191 1875 0 0 0 0 0 0

9987 0.77 146.0 607.3 12.8 625 9990 0.00 1.23 0.00 0.000 4 0.000 0.057 2658 2908 1874 0 0 0 0 0 0

10086 0.77 146.0 594.1 13.2 628 10089 0.00 1.15 0.00 0.000 6 0.000 0.042 2663 2202 1874 0 0 0 0 0 0

10425 0.77 146.0 549.6 13.3 639 10426 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2203 1874 0 0 0 0 0 0

10731 0.77 146.0 507.8 13.8 649 10732 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2203 1874 0 0 0 0 0 0

11045 0.77 146.0 465.0 13.2 671 11047 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2203 1873 0 0 0 0 0 0

11361 0.77 146.0 422.9 13.3 696 11364 0.00 1.20 0.00 0.000 4 0.000 0.057 2663 2914 1873 0 0 0 0 0 0

11494 0.77 146.0 405.0 13.2 706 11498 0.00 1.15 0.00 0.000 6 0.000 0.041 2668 2200 1873 0 0 0 0 0 0

11825 0.77 146.0 363.7 12.4 732 11826 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2200 1873 0 0 0 0 0 0

12138 0.77 146.0 326.2 11.6 757 12140 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2200 1874 0 0 0 0 0 0

12456 0.77 146.0 290.0 11.7 782 12457 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2200 1873 0 0 0 0 0 0

12771 0.77 146.0 254.7 11.2 807 12775 0.00 1.20 0.00 0.000 4 0.000 0.056 2668 2911 1873 0 0 0 0 0 0

12923 0.77 146.0 237.6 10.6 827 12930 0.00 1.15 0.00 0.000 6 0.000 0.040 2673 2195 1873 0 0 0 0 0 0

13262 0.77 146.0 201.4 10.3 878 13269 0.00 1.20 0.00 0.000 4 0.000 0.054 2673 2913 1873 0 0 0 0 0 0

13317 0.77 146.0 195.4 10.4 886 13324 0.08 1.15 0.00 0.000 6 0.163 0.040 2655 2194 1873 0 0 0 0 0 0

13656 0.78 153.4 163.1 9.7 937 13666 0.00 0.00 5.03 0.822 6 0.000 0.000 2655 2194 1859 0 0 0 0 0 0

13998 0.82 184.7 130.2 8.6 988 14032 0.00 1.20 27.75 0.962 4 0.000 0.053 2654 2908 1731 0 0 0 0 0 0

14256 0.82 186.6 104.5 9.9 1027 14263 0.00 1.15 0.00 0.000 6 0.000 0.040 2657 2203 1728 0 0 0 0 0 0

14596 0.83 195.1 70.6 9.6 1078 14609 0.00 0.00 9.57 0.891 6 0.000 0.000 2657 2203 1689 0 0 0 0 0 0

14941 0.87 231.0 41.3 8.4 1130 14981 0.00 1.17 30.85 0.915 4 0.000 0.054 2663 1492 1543 0 0 0 0 0 0

15207 0.87 231.0 18.8 10.4 1170 15214 0.00 1.17 0.00 0.000 6 0.000 0.050 2663 2198 1539 0 0 0 0 0 0

15378 end climb: SURFACE_DEPTH_REACHED

state 15379 begin surface coast

15398 end surface coast: CONTROL_FINISHED_OK

state 15398 begin surface

ID	143	HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	13	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
DIVE	119	HEADING	-1	ROLL_MIN	290	ALTIM_TOP_TURN_MARGIN	5
N_DIVES	0	ESCAPE_HEADING	100	ROLL_MAX	3915	ALTIM_TOP_MIN_OBSTACLE	1.8
D_SURF	2	ESCAPE_HEADING_DELTA	5	ROLL_DEG	20	ALTIM_PING_DEPTH	300
D_FLARE	3	FIX_MISSING_TIMEOUT	2	C_ROLL_DIVE	2510	ALTIM_PING_DELTA	50
D_TGT	990	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2200	ALTIM_FREQUENCY	13
D_ABORT	1030	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_PULSE	4
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_BOOST	20	SM_CC	350	ROLL_TIMEOUT	15	XPDR_VALID	0
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	34	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	240	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	10	N_NOCOMM	2	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	161	VBD_MIN	442	DEVICE1	2
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_MAX	3793	DEVICE2	20
T_DIVE	330	UPLOAD_DIVES_MAX	5	C_VBD	2485	DEVICE3	-1
T_MISSION	400	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	6	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-3	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-80665.289	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	T_RSLEEP	3	CF8_MAXERRORS	0	COMPASS2_DEVICE	-1
D_OFFGRID	200	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2400	PHONE_SUPPLY	-1	SEABIRD_T_G	0.0043394179
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-22.40402	SEABIRD_T_H	0.00062698836
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_I	2.474318e-05
MASS	51400	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.7476094e-06
NAV_MODE	2	PITCH_GAIN	31	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.9261332
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1046007
KALMAN_USE	2	PITCH_AD_RATE	150	COMPASS_USE	0	SEABIRD_C_I	-0.00064730336
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014311814

GPS1	231011,102052,6653.227,-5817.888,46,2.9,66,-33.6	TGT_NAME	TARGET_W
_CALLS	2	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231011,102825,6653.299,-5818.022,16,1.6,16,-33.6	MHEAD_RNG_PITCHd_Wd	264.9,95194,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	902

FINISH	1.7,1.014571	_24V_AH	22.6,15.068
SM_CCo	15414,56.65,0.084,0,0,1057,350.04	_10V_AH	10.2,12.297
SM_GC	2.47,6.93,0.52,56.65,0.048,0.054,0.084,115,2516,1057,-7.08,-0.82,350.04,0,0,0,0,0,0	FG_AHR_24Vo	0.000
RAFOS_CLK	1015	FG_AHR_10Vo	0.000
RAFOS	0,1319371267,12.033333,12.018611,59,56,56,0,0,0,907,176,167,0,0,0	MEM	150308
RAFOS_FIX	6654.869629,-5817.837402,231011,080840,3,98,0.80	DATA_FILE_SIZE	46620,1199
IRIDIUM_FIX	6625.71,-5817.09,231011,101037	CAP_FILE_SIZE	125419,0
TT8_MAMPS	0.026964,0.026964	CFSIZE	260165632,239812608
HUMID	57.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
INTERNAL_PRESSURE	9.8246	SOUNDSPEED	1457.2
TCM_TEMP	16.40	CURRENT	0.098, 49.3,1
XPDR_PINGS	23	GPS	231011,144805,6652.104,-5821.660,26,0.8,27,-33.6
ALTIM_BOTTOM_PING	903.2,45.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	257	99.19	SBE_CT	861	23	452.09
Roll_motor	29	71	47.11	SBE_O2	655	5	77.67
VBD_pump_during_apogee	328	1454	10789.21	nil	0	0	0.00
VBD_pump_during_surface	56	84	107.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	284	261	1679.64	nil	0	0	0.00
Transponder_ping	9	420	87.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.06
TT8	3273	18	624.79
LPSleep	9732	2	229.32
TT8_Active	525	18	100.21
TT8_Sampling	2199	41	940.53
TT8_CF8	203	47	99.27
TT8_Kalman	0	0	0.00
Analog_circuits	1804	12	220.89
GPS_charging	0	0	0.00
Compass	1892	6	130.13
RAFOS	2520	1	38.56
Transponder	26	30	8.18

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.77	-146.0	0.0	0.0	0	63	0.00	0.00	-46.10	0.000	2	0.000	0.000	119	2520	1691	0	0	0	0	0	0
67	-0.77	-146.0	3.0	-1.7	7	186	8.48	1.17	-101.78	0.000	4	0.258	0.070	2145	1803	3081	0	0	0	0	0	0
439	-0.77	-146.0	51.3	-16.2	63	446	0.00	1.23	0.00	0.000	6	0.000	0.060	2142	2508	3083	0	0	0	0	0	0
778	-0.77	-146.0	106.2	-15.0	114	784	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2508	3084	0	0	0	0	0	0
1114	-0.77	-146.0	156.0	-15.0	165	1123	0.00	1.15	0.00	0.000	4	0.000	0.071	2136	3223	3084	0	0	0	0	0	0
1155	-0.77	-146.0	162.2	-14.7	171	1162	0.00	1.12	0.00	0.000	6	0.000	0.038	2136	2510	3084	0	0	0	0	0	0
1494	-0.77	-146.0	212.3	-13.5	222	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3084	0	0	0	0	0	0
1828	-0.77	-146.0	257.6	-13.6	269	1829	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2509	3083	0	0	0	0	0	0
2145	-0.77	-146.0	298.9	-12.9	294	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3082	0	0	0	0	0	0
2459	-0.77	-146.0	338.6	-12.6	319	2460	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3083	0	0	0	0	0	0
2774	-0.77	-146.0	378.3	-12.6	344	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3082	0	0	0	0	0	0
3090	-0.77	-146.0	417.0	-12.4	369	3091	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
3407	-0.77	-146.0	455.5	-12.1	394	3408	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
3721	-0.77	-146.0	493.3	-11.7	419	3722	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
4029	-0.77	-146.0	529.0	-11.4	432	4030	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
4337	-0.77	-146.0	563.7	-11.4	442	4338	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
4641	-0.77	-146.0	598.4	-11.3	452	4643	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
4949	-0.77	-146.0	632.6	-11.1	462	4950	0.00	0.00	0.00	0.000	6	0.000	0.000	2137	2510	3083	0	0	0	0	0	0
5255	-0.77	-146.0	666.4	-11.1	472	5256	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
5562	-0.77	-146.0	699.5	-10.9	482	5563	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3083	0	0	0	0	0	0
5866	-0.77	-146.0	731.3	-10.3	492	5867	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2510	3084	0	0	0	0	0	0
6174	-0.77	-146.0	763.8	-10.7	502	6178	0.00	1.17	0.00	0.000	4	0.000	0.068	2132	3217	3084	0	0	0	0	0	0
6225	-0.77	-146.0	767.6	-10.8	503	6230	0.00	1.12	0.00	0.000	6	0.000	0.034	2132	2498	3084	0	0	0	0	0	0
6547	-0.77	-146.0	805.2	-11.0	514	6548	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2498	3084	0	0	0	0	0	0
6853	-0.77	-146.0	839.0	-11.1	524	6854	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2498	3084	0	0	0	0	0	0
7160	-0.77	-146.0	872.7	-10.8	534	7161	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2498	3084	0	0	0	0	0	0
7436	end dive: TARGET_DEPTH_EXCEEDED
state	7436	begin apogee
7442	-0.16	0.0	903.2	-11.0	543	7571	0.65	0.00	123.30	1.454	6	0.144	0.000	2339	2184	2485	0	0	0	0	0	0
7572	end apogee: CONTROL_FINISHED_OK
state	7572	begin climb
7574	0.77	146.0	908.4	0.0	547	7718	0.90	1.23	131.77	1.386	4	0.073	0.053	2649	1500	1888	0	0	0	0	0	0
7919	0.77	146.0	876.1	13.1	558	7924	0.00	1.23	0.00	0.000	6	0.000	0.047	2649	2205	1881	0	0	0	0	0	0
8258	0.77	146.0	831.4	13.1	569	8261	0.00	1.17	0.00	0.000	4	0.000	0.057	2649	2905	1878	0	0	0	0	0	0
8309	0.77	146.0	827.0	13.2	570	8314	0.00	1.17	0.00	0.000	6	0.000	0.041	2654	2211	1878	0	0	0	0	0	0
8629	0.77	146.0	782.6	13.2	581	8631	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2211	1877	0	0	0	0	0	0
8936	0.77	146.0	742.4	13.1	591	8937	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2211	1876	0	0	0	0	0	0
9242	0.77	146.0	703.0	12.9	601	9246	0.00	1.20	0.00	0.000	4	0.000	0.057	2654	2909	1876	0	0	0	0	0	0
9366	0.77	146.0	690.1	12.8	604	9374	0.00	1.20	0.00	0.000	6	0.000	0.041	2658	2191	1875	0	0	0	0	0	0
9680	0.77	146.0	646.6	12.6	615	9681	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2191	1875	0	0	0	0	0	0
9987	0.77	146.0	607.3	12.8	625	9990	0.00	1.23	0.00	0.000	4	0.000	0.057	2658	2908	1874	0	0	0	0	0	0
10086	0.77	146.0	594.1	13.2	628	10089	0.00	1.15	0.00	0.000	6	0.000	0.042	2663	2202	1874	0	0	0	0	0	0
10425	0.77	146.0	549.6	13.3	639	10426	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2203	1874	0	0	0	0	0	0
10731	0.77	146.0	507.8	13.8	649	10732	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2203	1874	0	0	0	0	0	0
11045	0.77	146.0	465.0	13.2	671	11047	0.00	0.00	0.00	0.000	6	0.000	0.000	2663	2203	1873	0	0	0	0	0	0
11361	0.77	146.0	422.9	13.3	696	11364	0.00	1.20	0.00	0.000	4	0.000	0.057	2663	2914	1873	0	0	0	0	0	0
11494	0.77	146.0	405.0	13.2	706	11498	0.00	1.15	0.00	0.000	6	0.000	0.041	2668	2200	1873	0	0	0	0	0	0
11825	0.77	146.0	363.7	12.4	732	11826	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2200	1873	0	0	0	0	0	0
12138	0.77	146.0	326.2	11.6	757	12140	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2200	1874	0	0	0	0	0	0
12456	0.77	146.0	290.0	11.7	782	12457	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2200	1873	0	0	0	0	0	0
12771	0.77	146.0	254.7	11.2	807	12775	0.00	1.20	0.00	0.000	4	0.000	0.056	2668	2911	1873	0	0	0	0	0	0
12923	0.77	146.0	237.6	10.6	827	12930	0.00	1.15	0.00	0.000	6	0.000	0.040	2673	2195	1873	0	0	0	0	0	0
13262	0.77	146.0	201.4	10.3	878	13269	0.00	1.20	0.00	0.000	4	0.000	0.054	2673	2913	1873	0	0	0	0	0	0
13317	0.77	146.0	195.4	10.4	886	13324	0.08	1.15	0.00	0.000	6	0.163	0.040	2655	2194	1873	0	0	0	0	0	0
13656	0.78	153.4	163.1	9.7	937	13666	0.00	0.00	5.03	0.822	6	0.000	0.000	2655	2194	1859	0	0	0	0	0	0
13998	0.82	184.7	130.2	8.6	988	14032	0.00	1.20	27.75	0.962	4	0.000	0.053	2654	2908	1731	0	0	0	0	0	0
14256	0.82	186.6	104.5	9.9	1027	14263	0.00	1.15	0.00	0.000	6	0.000	0.040	2657	2203	1728	0	0	0	0	0	0
14596	0.83	195.1	70.6	9.6	1078	14609	0.00	0.00	9.57	0.891	6	0.000	0.000	2657	2203	1689	0	0	0	0	0	0
14941	0.87	231.0	41.3	8.4	1130	14981	0.00	1.17	30.85	0.915	4	0.000	0.054	2663	1492	1543	0	0	0	0	0	0
15207	0.87	231.0	18.8	10.4	1170	15214	0.00	1.17	0.00	0.000	6	0.000	0.050	2663	2198	1539	0	0	0	0	0	0
15378	end climb: SURFACE_DEPTH_REACHED
state	15379	begin surface coast
15398	end surface coast: CONTROL_FINISHED_OK
state	15398	begin surface